Feature completeness in visual servoing

In terms of visual feedback, the process of visual servoing is the changing process of visual features. This paper studies feature completeness in visual servoing. Firstly, completeness of feature in visual servoing is analyzed and visual servoing systems are categorized in terms of it. Furthermore, how feature completeness affects task fulfillment is discussed and a framework of control method based on complete feature set is proposed: active vision control algorithms are designed to ob tain complete set of features for a visual servoing system with given task and environment; if the complete feature set is not available, it can be improved by control algorithms; with the redundancy of feature, control algorithms are designed to improve system performance including improving robustness, self-adaptation.